Device to influence the driving performance of a remote-controlled model vehicle

ABSTRACT

A device for influencing the handling characteristics of remote-controlled model cars or model ships, comprising a first input terminal for a first control signal which represents a first command variable which can be specified by a person who controls the vehicle, a sensor means which outputs a second control signal which represents a disturbance variable correlated with the rotational velocity or the lateral acceleration of the model vehicle, and a processing means which is connected with the first input terminal for receiving the first control signal and which has a second input terminal for receiving the second control signal, and which generates a first output signal which represents a first manipulated variable being a function of the first command variable and of the disturbance variable, with the first manipulated variable generated by the processing means being the command variable which as a function of the disturbance variable is limited or modified to a predeterminable degree.

The invention relates to a device for influencing the vehicle handlingcharacteristics of remote-controlled model vehicles.

In current model vehicles, i.e. model cars or model ships, the problemis frequently encountered that the person who controls the vehicleguides the vehicle with excessive speed into a curve. As a consequenceof this the vehicle is brought into an instable driving condition, i.e.the vehicle slithers out of the curve or begins to swerve (oversteeringor understeering).

In view of the above, the invention is based on the object to preventthis.

In order to solve this object, the invention provides a device with twoinput terminals and a processing means. The first input terminalreceives a first control signal that represents a first commandvariable. That variable may be set by a person who controls the vehicle.A sensor means on the vehicle generates a second control signal thatrepresents a disturbance variable correlated with the rotationalvelocity or lateral acceleration of the model vehicle. The processingmeans is connected to the two input terminals. It receives the first andsecond control signals and generates a first output signal that is afirst manipulated variable. The first manipulated variable depends uponand is a function of the first command signal and is limited or modifiedto a predetermined degree by the disturbance variable.

This device makes it possible to effectively prevent swerving of thevehicle in spite of an excessive steering angle or an excessive speedspecified by the person who controls the vehicle.

The first user-specified command variable is preferably a steeringarrangement drive signal. The first manipulated variable generated bythe processing means is a signal that represents a change in magnitudeand/or direction of the steering arrangement drive signal. It is,however, also possible that the first command variable is anacceleration or speed signal. In that case, the first manipulatedvariable generated by the processing means is a changed acceleration orspeed signal. In either case, the command variable is under control ofthe user by operation of a conventional remote-controlled transmitter.

In addition, a third input terminal can be provided for receiving afurther control signal representing a further command variable. Thatfurther command variable may also be specified by the user. In thatcase, the first output signal generated by the processing meansrepresents a first manipulated variable which is a function of both thefirst command variable and the further command variable and thedisturbance variable.

For this purpose, the device comprises a third input terminal for afurther control signal. That further control signal represents a furthercommand variable specified by the person controlling the vehicle.Moreover, the processing means generates a second output signal whichrepresents a further manipulated variable which is a function of thefirst and/or the further command variable and of the disturbancevariable.

Upon a change in magnitude and/or direction of the steering arrangementdrive signal, a corresponding change in magnitude of the acceleration orspeed signal is then preferably effected by the processing means. Inaddition, the amount of change of the acceleration or speed signal isinfluenced by the processing means as a function of the change inmagnitude and/or direction of the steering arrangement drive signal. Ina preferred embodiment of the invention adjustment means are provided bythe processing means that adjusts the size of the rate of change of theacceleration or speed signal and/or the change in magnitude and/ordirection inversion of the steering arraignment drive signal.

The processing means is adapted to reduce, limit, or invert the steeringarrangement drive signal in a predetermined degree as a function of thesensor signal during cornering of the vehicle.

In an embodiment of the device according to the invention, the firstsensor means is formed by a gyroscope, preferably a piezoelectricvibration gyroscope.

Alternatively, the first sensor means can also be formed by twoacceleration sensors which are arranged in the vehicle at a distancefrom each other.

In order to be compatible with conventional remote control units theprocessing means is adapted to process and/or output signals of apredetermined shape. In particular, each of the first control signal,the steering arrangement drive signal and/or the acceleration or speedsignal is a pulse-type signal with a duration of preferably 0.5 to 2.6msec.

The above described device according to the invention is preferablystructurally in a remote control receiver, in a model vehicle servodrive, and/or a model vehicle cruise control (speed control).

Although the device is described for model vehicles, the invention isnot limited to same. The device according to the invention can also beemployed for passenger cars or trucks.

Further advantageous embodiments, developments, properties andcharacteristics of the device according to the invention will becomeapparent from the following description of the figures.

FIG. 1 shows a schematic block diagram of a device according to theinvention in a model vehicle.

FIG. 2 shows a schematic block diagram of a device according to theinvention in detail.

FIG. 3 shows a circuit diagram of an embodiment of a device according tothe invention.

In FIG. 1, the device 10 according to the invention is designated asevaluation circuit with a first input terminal 12 for a first controlsignal 14 which represents a first command variable wa in the form of asteering input signal, which can be specified by a person who controlsthe vehicle.

A gyro sensor or two acceleration sensors form a sensor means 16 whichoutputs a second control signal 18 which represents a disturbancevariable z which is correlated with the rotational velocity or thelateral acceleration of the model vehicle.

In addition, the device according to the invention has a processingmeans 10 that will be explained in more detail hereinafter. Theprocessing means 10 is connected to the first input terminal 12 forreceiving the first control signal 14. The processing means 10 is alsoconnected to the second input terminal 20 for receiving the secondcontrol signal 18.

The processing means 10 generates a first output signal 22 whichrepresents a first manipulated variable y1. The first manipulatedvariable y1 is a function of the first command variable wa and of thedisturbance variable z. The first manipulated variable y1 modifies thecommand variable wa in accordance with and as a function of thedisturbance variable z.

In the embodiment shown in FIG. 1, the first command variable wa is auser-specified steering arrangement drive signal L′. The firstmanipulated variable y1 generated by the processing means 10 is achanged and/or direction inverted steering arrangement drive signal L′.In other words, the input drive signal L is modified by the disturbancevariable z to provide the modified steering drive signal L′. Themodified steering arrangement drive signal L′ is amplified in a drivestage 24 and is applied to a server motor 6 of the steering arrangement.

FIG. 2 shows a second embodiment of the invention. There, in addition tothe steering signal L, a further signal, such as an acceleration signalG is processed. A third input terminal 30 on the processing means 10receives the further control signal G. The control signal G is either aspeed or acceleration signal that is defined by the user. In thefigures, it is represented as a further command variable wb. Theacceleration signal G sets the speed of a vehicle. This accelerationsignal G is equivalent to the “set acceleration” signal found inconventional cruise controls for automobiles.

In addition, the first output signal generated by the processing meansis influenced in such a manner that it represents a first manipulatedvariable y1 which is a function of the first and the second commandvariable wa, wb and of the disturbance variable z. In other words, thesteering signal L′ supplied to the steering arrangement by the servomotor is not only influenced by the first sensor 16 but, in addition, bythe speed spcification signal G which is specified by the personcontrolling the vehicle.

In the embodiment shown in FIG. 2, a second output signal G′ isgenerated by the processing means, which represents a furthermanipulated variable y2 which is a function of the first and the othercommand variable wa, wb and of the disturbance variable z. This meansthat in addition to the signal supplied to the servo motor of thesteering arrangement, a further control signal for the speed of thedrive motor (e.g. the engine throttle position in the case of acombustion engine) is provided. The further control signal is generatedby the processing means 10 as a function of the steering angle signal Land the speed signal G as well as the signal from the sensor means 1 b.

The processing means 10 is adapted to configure each of the outputsignals in such a manner that upon a change in magnitude and/ordirection inversion of the steering arrangement drive signal L′, acorresponding change in signal G′ is effected as well.

For this purpose, the processing means 10 comprises adjusting means 42,44 for establishing the amount and the rate of change in magnitude ofthe acceleration for speed signal G′, as well as adjusting means 48, 46for establishing the amount and the rate of change in magnitude anddirection inversion of the steering arrangement drive signal by theprocessing means 10.

In the shown embodiment the adjusting means are illustrated by trimmingpotentiometers. This applies in particular if the device according tothe invention and the processing means are an analog circuit (see alsothe following description of FIG. 3). It is, however, also possible, toimplement the invention by means of a microcontroller. In this case, theadjusting means can each be implemented by eight DIP switches whoseswitch position is detected by the microcontroller and taken intoconsideration during the execution of the control program. Furtheruser-specified signals (B) may be added The added signals (B) aresuitably modified by the disturbance variable (z) and/or the other inputsignals L, G.

Regardless of whether an analog circuit or a microcontroller isemployed, the processing means reduces, limits, or inverts the steeringarrangement drive signal L and/or the speed specification signal in apredetermined degree during cornering of the vehicle as a function ofthe sensor signal and outputs same as a corresponding pulse-type signalG′ or L′, respectively, with a duration of preferably 0.5 to 2.6 msec.

FIG. 3 shows a simple analog cicuit which embodies the essentialcharacteristics of the invention. A reference voltage signal of 2.3V±1.0 V generated by the gyro sensor 16 is compared with the inputsignal 14 by a first operation amplifier OP1 which is connected as acomparator. The output signal of the comparator is supplied to theinverting input of an operation amplifier OP2 which is connected as anintegrator, while the signal from the gyro sensor is supplied to thenon-inverting input of said integrator. The output signal of theintegrator is supplied to the non-inverting input of an operationamplifier OP3 which operates as a comparator, while a pulse signal witha band width of 50 Hz generated by the gyro sensor is amplified in anoperation amplifier OP4 and supplied to the inverting input of theoperation amplifier OP3. The output signal of the operation amplifierOP3 is supplied to the final stage 24 in FIG. 1. The operation amplifierOP4 has a trimming potentiometer K1 in its feedback branch, via whichthe gain can be adjusted.

The gyro sensor outputs a signal which corresponds to the rotation ofthe vehicle (1.11 mV/DEG/sec). This variable which corresponds to therotational velocity of the vehicle is utilized for determining to whichextent countersteering is to be effected. During cornering the steeringangle is reduced as a function of the trimmer position K1.

The steering servo position can also be made dependent on other factorsin addition to the steering input signal and/or the acceleration/brakingsignal.

What is claimed is:
 1. A device for influencing the handlingcharacteristics of remotely-controlled model vehicle, in particular amodel car or model ship, comprising: a first input terminal (12) forreceiving a first control signal (19) representing a firstuser-specified command variable (wa) for the vehicle, a sensor means(16) for generating a second control signal (18) representing adisturbance variable (z) correlated with angular velocity or lateralacceleration of the vehicle, and a processing means for receiving thefirst and second control signals (14,18) and for generating a firstoutput signal (22) representing a first manipulated variable (y1) whichcorresponds to the first command variable (wa) modified to apredetermined degree as a function of the disturbance variable (z), saidfirst output signal (22) being adapted to avoid an unstable drivingcondition for the vehicle.
 2. A device for influencing the handlingcharacteristics of a remotely-controlled model vehicle according toclaim 1, wherein: the first user-specified command variable (wa) is aninput steering signal (L), and the first manipulated variable (y1) whichthe first output signal (22) of the processing means represents is amodified steering signal (L′).
 3. A device for influencing the handlingcharacteristics of a remotely-controlled model vehicle according toclaim 1, wherein: the first user-specified command variable (wa) is aninput acceleration or speed signal (G), and the first manipulatedvariable (y1) which the First output signal (22) of the processing meansrepresents is a modified acceleration or speed signal (G′).
 4. A devicefor influencing the handling characteristics of a remotely-controlledmodel vehicle according to claim 1, comprising: a further input terminal(30) for receiving a third control signal representing a seconduser-specified command variable (wb) for the vehicle, wherein theprocessing means receives the third control signal and generates thefirst output signal (22) as a function of both the first and secondcommand variables (wa,wb) and the disturbance variable (z).
 5. A devicefor influencing the handling characteristics of a remotely-controlledmodel vehicle according to claim 4, wherein: the processing meansgenerates a second output signal representing a second manipulatedvariable (y2) corresponding to the second command variable (wb) modifiedto a predetermined degree as a function of the disturbance variable (z),said second output signal being adapted to avoid an unstable drivingcondition for the vehicle.
 6. A device for influencing the handlingcharacteristics of a remotely-controlled model vehicle according toclaim 5, wherein: the first user-specified command variable (wa) is aninput steering signal (L), and the first manipulated variable (y1) whichthe first output signal (22) of the processing means represents is amodified steering signal (L′).
 7. A device for influencing the handlingcharacteristics of a remotely-controlled model vehicle according toclaim 6, wherein: the second user-specified command variable (wb) is aninput acceleration or speed signal (G), and the second manipulatedvariable (y2) which the second output signal of the processing meansrepresents is a modified acceleration or speed signal (G′).
 8. A devicefor influencing the handling characteristics of a remotely-controlledmodel vehicle according to claim 7, wherein: upon a limitation and/ordirection inversion of the input steering signal (L), a limitation ofthe acceleration or speed signal is also effected by the processingmeans.
 9. A device for influencing the handling characteristics of aremotely-controlled model vehicle according to claim 1, furthercomprising: adjusting means (42, 44) to set the predetermined degree ofmodification of the first manipulated variable (y1) generated by theprocessing means.
 10. A device for influencing the handlingcharacteristics of a remotely-controlled model vehicle according toclaim 1, wherein: the first manipulated variable (y1) is generatedduring cornering of the vehicle.
 11. A device for influencing thehandling characteristics of a remotely-controlled model vehicleaccording to claim 1, wherein: the sensor means (16) is a piezo-electricvibration gyroscope.
 12. A device for influencing the handlingcharacteristics of a remotely-controlled model vehicle according toclaim 1, wherein: the sensor means (16) is formed by two accelerationsensors which are arranged in the vehicle at a distance from each other.13. A device for influencing the handling characteristics of aremotely-controlled model vehicle according to claim 1, wherein: one ofthe first control signal, the second control signal and the first outputsignal is a pulse-type signal with a duration in the range of 0.5 to 2.6msec.
 14. A device for influencing the handling characteristics of aremotely-controlled model vehicle according to claim 1, wherein: saiddevice is structurally integrated within the vehicle in one of a remotecontrol receiver, a model vehicle servo drive, and a model vehiclecruise control.